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このページ(論文)をリンクする場合は次のURLを使用してください: http://hdl.handle.net/2261/6880

タイトル: Basic Study on Similarity in Walking Machine from a Point of Energic Efficiency
著者: Kaneko, Makoto
Tachi, Susumu
Tanie, Kazuo
Abe, Minoru
発行日: 1987年2月
出版者: IEEE
掲載誌情報: IEEE Journal of Robotics and Automation. vol. 3, no. 1, 1987.2, pp. 19-30
抄録: Because of the size of walking machines, scaled-down models having geometrical similarity can be used instead of full-scale models to measure energetic efficiency. First, to cope with this situation, five nondimensional parameters that control energetic efficiency of walking machines are introduced for nine physical parameters by applying dimensional analysis techniques. Next, in order to check those influences on energetic efficiency, computer simulations are performed for an n-legged walking model. In these simulations, the influence on ground reaction forces is considered to satisfy the approximate balance of forces and moments when an overall walking machine assembly is assumed as a free body. Resultantly, several new facts are acquired from the viewpoint of similarity law.
URI: http://hdl.handle.net/2261/6880
ISSN: 08824967
出現カテゴリ:1243010 学術雑誌論文
015 技術・工学


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